caminan12 pro

ristofer · Jan 29, 2018 · f1995d2 · f1995d2
1 parent 19280f3
commit f1995d2
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/urdf/leg.xacro b/urdf/leg.xacro
@@ -145,8 +145,8 @@
   <link name="${side}_phalange" >
     <inertial>
       <origin xyz="0 0 0" />
-      <mass value="0.2"/>
-      <xacro:cuboid_inertia_def x="${phalange_large}" y="${phalange_width}" z="${phalange_height}" mass="0.2"/>
+      <mass value="0.1"/>
+      <xacro:cuboid_inertia_def x="${phalange_large}" y="${phalange_width}" z="${phalange_height}" mass="0.1"/>
     </inertial>
     <visual>
       <origin xyz="0 0 ${-1*phalange_height/2}" rpy="0 0 0" />
@@ -185,7 +185,7 @@
     <child link="${side}_thigh"/>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <axis xyz="0 1 0" />
-    <limit effort="4" velocity="4" lower="${-75*M_PI/180}" upper="${45*M_PI/180}"  />
+    <limit effort="8" velocity="6" lower="${-75*M_PI/180}" upper="${45*M_PI/180}"  />
     <!--dynamics damping="${dxl_damping}" friction="${dxl_friction}" /-->
   </joint>
 

diff --git a/urdf/structure.xacro b/urdf/structure.xacro
@@ -34,7 +34,7 @@
   <joint name="beam_to_slider" type="fixed">
     <parent link="beam"/>
     <child link="slider"/>
-    <origin xyz="0 1 ${-1*cross_length}" rpy="0 0 0"/>
+    <origin xyz="0 5 ${-1*cross_length}" rpy="0 0 0"/>
     <axis xyz="1 0 0" />
     <!--limit effort="3" velocity="2" lower="5" upper="20" /-->  
   </joint>